All the simulations shown in this section are implemented in MATLAB with quadprog as the QP solver. We compare our method with that of [1]} (referred to as “compared method” in this section) in two experiments. In the first one, we fix the number of adjustable waypoints and show a breakdown of the computation time. In the second one, we conduct a scalability experiment to show how the computation time scales with the number of adjustable waypoints. Note that the number of adjustable waypoints equals the number of safety sets as indicated in (REF ).
